Search

The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part. To compute (simulate) such combined models, co-simulation of these models is used. The design work can be done as a stepwise refinement process, whereby each step is verified via co-simulation. This in general yields a shorter design time, and a better quality product. The tools pass model-specific information between each other via parametrized tokens in the generated, high-level code to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. The method is illustrated with a case study using the tools, some of which are at the prototype level. Especially the structuring of the models and regularly doing simulations (of which some can be ’repeated’ as real experiments), is beneficial, shortening the development time and producing better models. Future work is to test the method on more complex cases, and to extend the method by detailing out the electronics and mechanics sub design flows.

Embedded targets normally do not have much resources to aid developing and debugging the software. So model-driven development (MDD) is used for designing embedded software with a `first time right' approach. For such an approach, a good way of working (WoW) is required for embedded software development using MDD techniques. This paper discusses the preferred way of working for the development of embedded control software. Control software requires hard real-time support for the loop controllers. These controllers directly control the motor output. Soft and non real-time levels can be used for non loop control related software tasks. The paper also discusses model structure optimisation techniques, which prevent the complexity of resource scheduling for large robotic setups, These techniques allow the designer to keep his own preferred point of view, as the techniques try to optimise the model into efficient software from a execution point of view. This saves a huge amount of design effort, especially for distributed targets.

This paper is about using templates and passing model-specific information between tools via parameterized tokens in the generated, high-level code, to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. This is illustrated by the realization of the embedded software of a real system. We conclude that reuse is easier. However, the presented method can be generalized more, as to connect to other tools and platforms.

The design of embedded control systems for monitoring and control of mechatronic systems has a multidisciplinary development trajectory. These systems consist of heterogeneous components developed by different disciplines (control engineering, electrical engineering, software engineering and often many more). The design trajectory needs therefore a multi-disciplinary design methodology that enables concurrent design and interactions between all involved disciplines, reducing inconsistencies and conflicts that occur during the design phase. This paper proposes a multi-view methodology to address the above-mentioned issues. The main purpose is to shorten the design time and at the same time increasing the reliability and predictability of embedded (computer) control systems.

The method presented aims at supporting the development of control software for embedded control systems. The method considers the implementation process as a stepwise refinement from physical system models and control laws to efficient control computer code, and that all phases are verified by simulation. Simulation is also used as a verification tool during physical system modeling and control law development. Data flow diagrams are used to describe the control software throughout the whole implementation process. Since we aim at heterogeneous distributed processors as target hardware, we use a link driver library based on the CSP channel concept. Communication peculiarities are encapsulated by the link drivers